JP2019209737A - Vehicle and control method - Google Patents

Abstract

To provide a technology that enables automatic recognition of a change in behavioral characteristics of a self-driving vehicle.SOLUTION: A vehicle capable of switching between automated driving and manual driving includes: detection means for detecting a vehicle behavior; and monitoring means for monitoring a change in behavioral characteristics of the vehicle on the basis of the result of detection of a driving input amount associated with the driving of the vehicle and the vehicle behavior corresponding to the driving input amount by the detection means, and reference information indicating the reference of te behavioral characteristics of the vehicle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an autonomous driving vehicle.

  Automatic driving of the vehicle contributes to reducing the burden on the driver. However, manual operation may be more suitable than automatic operation. Therefore, a control device capable of switching between automatic operation and manual operation has been proposed. Patent Document 1 proposes a technique for notifying a driver to cancel automatic driving when a predetermined condition is not satisfied during automatic driving.

JP 2014-106854 A

  By the way, the output characteristics (behavior characteristics) of the vehicle with respect to the driving input amount such as the driving operation amount of the driver and the control amount of the control unit for the actuator may change according to the use of the vehicle. For example, there is a case where the familiar behavior between components and the performance degradation of the components occur, and the initial behavior characteristics change. Even if the behavior characteristics of the vehicle change with respect to the driving input amount, the driver can compensate for this in manual driving. On the other hand, in automatic driving, if the behavioral characteristics of the vehicle change, it may be difficult to obtain a driving result that is a control target.

  An object of the present invention is to provide a technology capable of automatically recognizing a change in behavior characteristics of a vehicle.

According to the present invention,
A vehicle that can switch between automatic driving and manual driving,
Detection means for detecting the behavior of the vehicle;
The vehicle behavior based on the driving input amount related to the driving of the vehicle, the detection result of the vehicle behavior corresponding to the driving input amount, and the reference information indicating the criteria of the behavior characteristic of the vehicle. Monitoring means for monitoring changes in characteristics,
The vehicle characterized by the above is provided.

Moreover, according to the present invention,
A vehicle that can switch between automatic driving and manual driving,
Detection means for detecting the amount of driving operation of the driver;
In the manual driving, a virtual control amount related to the automatic driving of the vehicle is simulated, and the change of the behavior characteristic of the vehicle is monitored by comparing the virtual control amount with the driving operation amount detected by the detecting means. Monitoring means,
The vehicle characterized by the above is provided.

Moreover, according to the present invention,
A vehicle control method capable of switching between automatic driving and manual driving,
A detection process for detecting the behavior of the vehicle;
Based on the driving input amount related to driving of the vehicle, the detection result of the detection step of the behavior of the vehicle corresponding to the driving input amount, and the reference information indicating the reference of the behavior characteristic of the vehicle, the behavior of the vehicle A monitoring process for monitoring changes in characteristics,
The control method characterized by this is provided.

Moreover, according to the present invention,
A vehicle control method capable of switching between automatic driving and manual driving,
A detection process for detecting the amount of driving operation of the driver;
In the manual driving, a virtual control amount related to the automatic driving of the vehicle is simulated, and the change in behavior characteristics of the vehicle is monitored by comparing the virtual control amount with the driving operation amount detected in the detection step. A monitoring process,
The control method characterized by this is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the technique which can recognize automatically the change of the behavior characteristic of a vehicle can be provided.

The schematic diagram of the vehicle which concerns on embodiment, and the block diagram of the control apparatus. The flowchart which shows the process example performed with the control apparatus of FIG. (A) is explanatory drawing which shows the example of a change of a behavior characteristic, (B) is explanatory drawing of the mechanism which monitors the change of a behavior characteristic. The figure which shows the structural example of reference | standard information. The flowchart which shows the process example performed with the control apparatus for vehicles of FIG. (A) And (B) is a figure which shows the example of the determination method of the change of a behavior characteristic. (A) And (B) is a flowchart which shows the process example performed with the control apparatus for vehicles of FIG. (A) And (B) is explanatory drawing of the mechanism which monitors the change of a behavior characteristic. The flowchart which shows the process example performed with the control apparatus for vehicles of FIG.

<First embodiment>
FIG. 1 is a block diagram of a vehicle V and its control device 1 according to an embodiment of the present invention. The control device 1 controls the vehicle V. In FIG. 1, the outline of the vehicle V is shown by the top view and the side view. The vehicle V is a sedan type four-wheeled passenger car as an example.

  The vehicle V of this embodiment is a parallel hybrid vehicle, for example. In this case, the power plant 50 that outputs a driving force for rotating the driving wheels of the vehicle V can be constituted by an internal combustion engine, a motor, and an automatic transmission. The motor can be used as a drive source for accelerating the vehicle V and can also be used as a generator during deceleration (regenerative braking).

<Control device 1>
The configuration of the control device 1 will be described with reference to FIG. The control device 1 includes an ECU group (control unit group) 2. The ECU group 2 includes a plurality of ECUs 20 to 28 configured to communicate with each other. Each ECU includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores a program executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like. Note that the number of ECUs and the functions in charge can be designed as appropriate, and can be subdivided or integrated as compared with the present embodiment. In FIG. 1, names of typical functions of the ECUs 20 to 28 are given. For example, the ECU 20 describes “operation control ECU”.

  The ECU 20 executes control related to travel support including automatic driving of the vehicle V. In the automatic driving, driving of the vehicle V (acceleration of the vehicle V by the power plant 50, etc.), steering and braking are automatically performed without requiring the driver's operation. In addition, the ECU 20 can execute travel support control such as collision reduction braking and lane departure suppression in manual operation. The collision reduction brake assists collision avoidance by instructing the operation of the brake device 51 when the possibility of collision with a front obstacle increases. The lane departure suppression supports the lane departure by instructing the operation of the electric power steering device 41 when the possibility that the vehicle V departs from the traveling lane increases.

  The ECU 21 is an environment recognition unit that recognizes the traveling environment of the vehicle V based on the detection results of the detection units 31A, 31B, 32A, and 32B that detect the surrounding conditions of the vehicle V. In the case of the present embodiment, the detection units 31A and 31B are cameras that photograph the front of the vehicle V (hereinafter may be referred to as cameras 31A and 31B). It is installed in the passenger compartment. By analyzing the images taken by the camera 31A and the camera 31B, it is possible to extract the outline of the target and to extract the lane markings (white lines etc.) on the road.

  In the case of the present embodiment, the detection unit 32A is a lidar (Light Detection and Ranging) (hereinafter may be referred to as a lidar 32A), and detects a target around the vehicle V, or a distance from the target. Measure the distance. In the present embodiment, five riders 32A are provided, one at each corner of the front of the vehicle V, one at the center of the rear, and one at each side of the rear. The detection unit 32B is a millimeter wave radar (hereinafter may be referred to as a radar 32B), and detects a target around the vehicle V and measures a distance from the target. In the present embodiment, five radars 32B are provided, one at the front center of the vehicle V, one at each front corner, and one at each rear corner.

  The ECU 22 is a steering control unit that controls the electric power steering device 41. The electric power steering device 41 includes a mechanism for steering the front wheels in accordance with the driving operation (steering operation) of the driver with respect to the steering wheel ST. The electric power steering device 41 includes a drive unit 41a including a motor for assisting steering operation or driving force for automatically steering the front wheels (sometimes referred to as steering assist torque), a steering angle sensor 41b, and a driver. A torque sensor 41c and the like for detecting a steering torque to be borne (referred to as steering steering torque and distinguished from steering assist torque) are included. The steering angle sensor 41b can detect the driving operation amount of the driver related to steering. The ECU 22 can also acquire the detection result of the sensor 36 that detects whether or not the driver is holding the steering handle ST, and can monitor the holding state of the driver.

  The ECU 23 is a braking control unit that controls the hydraulic device 42. The driver's braking operation on the brake pedal BP is converted into hydraulic pressure in the brake master cylinder BM and transmitted to the hydraulic device 42. The hydraulic device 42 is an actuator capable of controlling the hydraulic pressure of hydraulic oil supplied to the brake devices (for example, disc brake devices) 51 provided on the four wheels, respectively, based on the hydraulic pressure transmitted from the brake master cylinder BM. The ECU 23 performs drive control of an electromagnetic valve or the like provided in the hydraulic device 42. Further, the ECU 23B can turn on the brake lamp 43B during braking. Thereby, the attention to the vehicle V can be enhanced with respect to the following vehicle.

  The ECU 23 and the hydraulic device 23 can constitute an electric servo brake. For example, the ECU 23 can control the distribution of the braking force by the four brake devices 51 and the braking force by the regenerative braking of the motor provided in the power plant 50. The ECU 23 also includes a wheel speed sensor 38 provided for each of the four wheels, a gyro sensor (yaw rate sensor) 33a for detecting the rotational movement of the vehicle V, an acceleration sensor 33b for detecting acceleration and deceleration of the vehicle V, and a brake master cylinder. Based on the detection result of the pressure sensor 35 that detects the pressure in the BM, it is also possible to realize the ABS function, the traction control, and the attitude control function of the vehicle V.

  The ECU 24B is a stop maintenance control unit that controls an electric parking brake device (for example, a drum brake) 52 provided on the rear wheel. The electric parking brake device 52 includes a mechanism for locking the rear wheel. The ECU 24 can control locking and unlocking of the rear wheels by the electric parking brake device 52.

  The ECU 25 is an in-vehicle notification control unit that controls the information output device 43A that notifies information in the vehicle. The information output device 43A includes, for example, a display device provided on a head-up display or an instrument panel, or an audio output device. Furthermore, a vibration device may be included. The ECU 25, for example, causes the information output device 43A to output various information such as vehicle speed and outside air temperature, information such as route guidance, and information regarding the state of the vehicle V.

  The ECU 26 is a vehicle outside notification control unit that controls the information output device 44 that notifies information outside the vehicle. In the case of this embodiment, the information output device 44 is a direction indicator (hazard lamp). The ECU 26 notifies the traveling direction of the vehicle V to the outside of the vehicle by performing blink control of the information output device 44 as a direction indicator, and also performs the blink control of the information output device 44 as a hazard lamp to the outside of the vehicle. Thus, attention to the vehicle V can be increased.

  The ECU 27 is a drive control unit that controls the power plant 50. In the present embodiment, one ECU 27 is assigned to the power plant 50, but one ECU may be assigned to each of the internal combustion engine, the motor, and the automatic transmission. For example, the ECU 27 controls the output of the internal combustion engine or the motor, or automatically shifts according to the detection result of the operation amount detection sensor 34a provided on the accelerator pedal AP or the operation amount detection sensor 34b provided on the brake pedal BP. Change the gear position of the machine. The operation amount detection sensor 34a is a sensor that detects the driver's operation amount related to the accelerator opening, and the operation amount detection sensor 34b is a sensor that detects the driver's operation amount related to braking. The automatic transmission is provided with a rotation speed sensor 39 that detects the rotation speed of the output shaft of the automatic transmission as a sensor that detects the running state of the vehicle V. The vehicle speed of the vehicle V can be calculated from the detection result of the rotation speed sensor 39.

  The ECU 28 is a position recognition unit that recognizes the current position and the course of the vehicle V. The ECU 28 controls the gyro sensor 33a, the GPS sensor 28b, and the communication device 28c, and performs information processing on the detection result or the communication result. Since the gyro sensor 33 detects the rotational movement of the vehicle V, the course of the vehicle V can be determined based on the detection result. The GPS sensor 28b detects the current position of the vehicle V. The communication device 28c performs wireless communication with a server that provides map information and traffic information, and acquires these information. The database 28a can store highly accurate map information, and the ECU 28 can specify the position of the vehicle V on the lane with higher accuracy based on the map information and the like.

  The input device 45 is disposed in the vehicle so that the driver can operate, and receives an instruction and information input from the driver.

<Control example>
A control example of the control device 1 will be described. FIG. 2 is a flowchart showing a mode selection process for operation control executed by the ECU 20.

  In S1, it is determined whether or not a mode selection operation has been performed by the driver. The driver can give an instruction to switch between the automatic operation mode and the manual operation mode by operating the input device 45, for example. If there is a selection operation, the process proceeds to S2, and if not, the process ends.

  In S2, it is determined whether or not the selection operation is an instruction for an automatic operation. If the operation is an instruction for an automatic operation, the process proceeds to S3, and if it is an instruction to perform a manual operation, the process proceeds to S5. In S3, it is determined whether or not the regulation of the automatic operation mode is set. An example of regulation will be described later. If the restriction is not set, the process proceeds to S4, and if the restriction is set, the process proceeds to S5.

  In S4, the automatic operation mode is set, and automatic operation control is started. In S5, the manual operation mode is set and manual operation control is started. The current setting related to the operation control mode is notified from the ECU 20 to each of the ECUs 21 to 28 and recognized.

  In the manual driving control, the vehicle V is driven, steered, and braked according to the driving operation of the driver, and the ECU 20 appropriately executes the driving support control. In the automatic driving control, the ECU 20 outputs control commands to the ECU 22, ECU 23, and ECU 27 to control the steering, braking, and driving of the vehicle V, and automatically causes the vehicle V to travel regardless of the driving operation of the driver. The ECU 20 sets the travel route of the vehicle V, and refers to the position recognition result of the ECU 28 and the recognition result of the target, and causes the vehicle V to travel along the set travel route. The target is recognized based on the detection results of the detection units 31A, 31B, 32A, and 32B.

<Monitoring behavior characteristics>
In the automatic operation control, the operation of the vehicle V is planned, and the control amount of the actuator necessary for realizing the planned contents is set. Then, the actuator is driven with the set control amount to realize an action plan. Such control is based on the premise that there is a correlation in the behavior characteristics between the controlled variable and the behavior of the vehicle V caused by the controlled variable. However, the use may cause familiarity between components or performance degradation of the components, and the initial behavior characteristics may change.

  FIG. 3A is an explanatory diagram illustrating an example of a change in behavior characteristics. This figure schematically shows an example of the behavior during acceleration of the vehicle V1 immediately after shipment from the factory and the vehicle V1 'after using the vehicle V1 for a long time. Under the same conditions, the vehicle V1 shows high acceleration and the vehicle V1 'shows low acceleration even though the same operation amount is given to the accelerator pedal AP. It can be said that the behavior characteristics change due to the performance degradation in the vehicle V1 '.

  A small change in behavioral characteristics can be dealt with by correcting the control amount in automatic operation. However, if the change in behavior characteristics becomes large, it is difficult to cope with correction, and it may be difficult to realize an action plan in automatic driving. Therefore, in this embodiment, a change in behavior characteristics with respect to the control amount of the vehicle V is monitored and automatically recognized.

  FIG. 3B is an explanatory diagram of a mechanism for monitoring changes in behavior characteristics. In this embodiment, reference information including a reference characteristic value indicating a normal behavior characteristic or a range of a normal behavior characteristic is prepared. The reference characteristic value indicates an initial correlation between a driving input amount (input) related to driving of the vehicle and a behavior (output) of the vehicle V with respect to the driving input amount. The initial correlation is an input-output correlation when the vehicle V is shipped from the factory or when the vehicle V starts to be used. The reference characteristic value can be preset by the manufacturer of the vehicle V. The reference characteristic value may be automatically set in an initial period after the start of use of the vehicle V. For example, a predetermined travel distance (for example, after the user starts using the vehicle V) It may be set from the driving input amount and the vehicle behavior measured by various sensors of the vehicle V while traveling 200 km).

  Then, by determining whether or not the actual behavior characteristic specified from the behavior of the vehicle V corresponding to the driving input amount deviates from the reference characteristic value, the change in the behavior characteristic can be monitored. For example, in FIG. 3B, although the actual behavior characteristics C1 and C2 are deviated from the reference characteristic value, the deviation amount is small, so this is dealt with by correcting the control amount, and the actual behavior characteristic C3 is the deviation amount from the reference characteristic value. Therefore, it can be determined that the performance of the vehicle V is degraded.

  Examples of the behavioral characteristics of the vehicle V include acceleration characteristics, braking characteristics, and steering characteristics. All three may be monitored, or one or two may be monitored. Examples of the driving input amount in each of these characteristics and the output that is the behavior of the vehicle V with respect to the driving input amount include the following. In any case, the behavior of the vehicle V is compared by comparing the actual driving input amount and the actual vehicle behavior collected under the same conditions as the driving conditions, control conditions, and the like in which the reference characteristic values are defined, with the reference characteristic values. Changes in characteristics can be monitored.

  In the case of the acceleration characteristic, the driving input amount may include a driving operation amount (detection result of the operation amount detection sensor 34a) with respect to the accelerator pedal AP when the behavior characteristic is monitored during manual driving. When behavior characteristics are monitored during automatic operation, drive control amounts relating to the internal combustion engine and motor of the power plant 50 output from the ECU 27 can be cited. The acceleration which is the behavior of the vehicle V corresponding to the driving input amount can be detected by the acceleration sensor 33b or the wheel speed sensor 38.

  In the case of the braking characteristic, as the driving input amount, when the behavior characteristic is monitored during manual driving, the driving operation amount (detection result of the operation amount detection sensor 34b) for the brake pedal BP can be exemplified. When behavior characteristics are monitored during automatic driving, a drive control amount related to the brake device 51 (hydraulic device 42) output from the ECU 23 can be cited. The degree of braking, which is the behavior of the vehicle V corresponding to the driving input amount, can be detected by the acceleration sensor 33b or the wheel speed sensor 38.

  In the case of the steering characteristic, as the driving input amount, when the behavior characteristic is monitored during manual driving, the driving operation amount (detection result of the steering angle sensor 41b) with respect to the steering wheel ST can be exemplified. When behavior characteristics are monitored during automatic driving, a drive control amount for the drive unit 41a output from the ECU 22 can be cited. The turning degree (angular velocity or turning amount) that is the behavior of the vehicle V corresponding to the driving input amount can be detected by the gyro sensor 33a.

  The appearance of the behavior of the vehicle V with respect to the driving input amount may have a time lag. For example, when the behavior of the vehicle V is regarded as the behavior with respect to the driving input amount, for example, after the driving input amount is input, the maximum value within a predetermined time period is set, or the vehicle V after the driving input amount is input It is good also as a detection value at the time of considering that a behavior has passed the transition period.

  Next, a configuration example of the reference information will be described. Since the behavior of the vehicle V with respect to the same driving input amount may vary depending on the traveling environment and driving state of the vehicle V, the reference information may be a reference characteristic value set for each condition of the traveling environment and driving state. . Changes in behavior characteristics according to conditions can be monitored. FIG. 4 is a diagram illustrating a configuration example of the reference information.

  The reference information shown in the figure is roughly divided into acceleration characteristics, braking characteristics, and steering characteristics. A reference characteristic value is set for each condition of conditions 1 to k for the acceleration characteristic, a reference characteristic value is set for each condition of conditions 1 to m for the braking characteristic, and a reference characteristic value is set for each condition of conditions 1 to n for the braking characteristic. Is set. The condition can include, for example, the vehicle speed range of the vehicle V. In the case of acceleration characteristics and braking characteristics, the conditions can include, for example, the state of an automatic transmission (for example, a reduction ratio). In addition, as long as the condition can be detected, the condition may include road surface conditions, weather, and the like.

  Contrary to the example of FIG. 4, each reference characteristic value of the acceleration characteristic, the braking characteristic, and the steering characteristic may be only one type defined under a specific condition. In short, the control amount and behavior characteristic data to be compared with the reference characteristic value may be data collected under the conditions of the driving environment and the driving state assumed by the reference characteristic value.

  Next, an example of behavior characteristic monitoring processing will be described. FIG. 5 is a flowchart illustrating an example of behavior characteristic monitoring processing. For example, the ECU 20 can execute the process shown in FIG. 5, but an ECU dedicated to monitoring may be provided and the ECU may perform the process.

  The behavior characteristics may be monitored in either manual operation or automatic operation, but the example of FIG. 5 shows an example of monitoring processing executed in manual operation. A human driver can respond relatively flexibly to changes in behavioral characteristics of the vehicle V. For example, even if the acceleration of the vehicle V is worse than before, the driver can take measures such as depressing the accelerator pedal AP more naturally and drive the vehicle V smoothly. Then, by automatically recognizing the change in the behavior characteristics of the vehicle V in manual driving, it is possible to take measures such as restricting switching to automatic driving.

  In S11, the detection result of the driving operation amount by the driver and the detection result of the corresponding behavior are stored. For example, when the acceleration characteristic is monitored, if the operation amount for the operation amount detection sensor 34a increases, the detection result and the detection result of the acceleration sensor 33b are stored in the storage device of the ECU 20. When the reference information is divided for each condition as shown in FIG. 4, the information corresponding to the condition is also associated and stored in the storage device, and the data matching the condition is compared when compared with the reference characteristic value. To do. Such actual measurement data may be collected by logging a large number of data.

  In S12, it is determined whether the comparison condition is satisfied. Here, it is determined whether or not it is time to compare the data collected in S11 with the reference information. For example, when necessary and sufficient data is collected in S11, it is determined that the comparison condition is satisfied. Alternatively, it is determined that the comparison condition is satisfied when a predetermined calculation cycle arrives.

  In S13, the data stored in S11 is compared with the reference information, and the change amount of the behavior characteristic of the vehicle V with respect to the reference information is calculated. In S14, as a result of the comparison in S13, it is determined whether or not the change in behavior characteristics of the vehicle V exceeds a threshold value. If the threshold value is exceeded, it is considered that a large performance degradation has occurred in the vehicle V, and the process proceeds to S15. If the threshold is not exceeded, it is considered that the performance of the vehicle V is maintained, and the process proceeds to S17. 6A and 6B show an example of the comparison method in S13 and S14.

  FIG. 6A shows an example in which the difference D between the individual measured data P1 to P3 of the vehicle behavior corresponding to the driving input amount and the reference characteristic value is calculated. The difference D between the output value of the reference characteristic value for each operation input amount of the measured data P1 to P3 and the behavior detection result of the measured data P1 to P3 is compared with a preset threshold value. When the difference D exceeds the threshold value, it can be determined that a large performance degradation has occurred in the vehicle V. For one actual measurement data, when the difference D exceeds the threshold value, it may be determined that a large performance degradation has occurred in the vehicle V. However, in consideration of an error, the difference D for a predetermined number or more of the actual measurement data It may be determined that a large performance degradation has occurred in the vehicle V when the value exceeds the threshold.

  FIG. 6B shows an example in which the current behavior characteristic C4 is approximately calculated from a large number of actually measured vehicle behavior data corresponding to the driving input amount. An allowable range is set as a threshold value for the reference characteristic value. When the behavior characteristic C4 is out of the allowable range, it is determined that a large performance degradation has occurred in the vehicle V. In the illustrated example, the behavior characteristic C4 is outside the allowable range.

  Returning to FIG. 5, in S <b> 15, the driver is notified that the behavior characteristics of the vehicle V have changed and performance degradation has occurred. This notification can be performed by voice or image display, for example, by the information output device 43A. The notification can include a voice or display that prompts the driver to check the vehicle V at the maintenance site. Maintenance bases are car dealers, maintenance shops, etc. that handle vehicles V. This notification may be performed periodically until the vehicle V is brought to the maintenance base.

  In S16, a regulation concerning automatic driving is set. The content of the regulation is, for example, prohibition of switching from manual operation to automatic operation. Thereby, for example, the switching to the automatic operation mode is not permitted in the process of S3 described in FIG. 2, and the manual operation mode is selected. The content of the regulation may be, for example, that the switching to automatic driving is permitted, but the driving conditions in automatic driving are imposed. For example, speed limit, distance limit, and continuous operation time limit.

  If it is determined in S14 that the performance is maintained, it is determined in S17 whether or not the control amount needs to be corrected during automatic operation. Whether correction is necessary or not can be determined to be unnecessary when the measured data is within the range of the reference characteristic value, and can be determined to be necessary when the measured data is outside the range of the reference characteristic value but does not exceed the threshold value. If it is determined that correction is necessary, the process proceeds to S18, and the correction amount of the control amount in automatic operation is set. The correction amount can be appropriately set so that the difference between the actually measured data and the reference characteristic value becomes small.

  Next, when the regulation regarding automatic driving is set in S16, the cancellation of the regulation may be made on the condition that the vehicle V is inspected at the maintenance base. This can further prompt the driver to check the vehicle V.

  The release of the regulation may be made possible by an operator of the maintenance base that has performed the inspection communicating with the control device 1 using a dedicated terminal and performing a predetermined process. FIG. 7A is a flowchart illustrating an example thereof, which can be executed by the ECU 20, for example. The dedicated terminal can communicate with the control device 1 and the dedicated terminal requests execution of the release process. Thereafter, in S21, it is determined whether or not a specific code is input from the dedicated terminal. If it is input, the restriction is canceled in S22.

  As described above, in the present embodiment, a change in behavior characteristics of the vehicle V can be automatically recognized. Further, if the change in behavior characteristics is large, it is considered that the performance degradation of the vehicle V has occurred, and the automatic driving is restricted, so that it is possible to prevent the realization of the action plan in the automatic driving. Further, by informing the driver, it is possible to prompt the vehicle V to be inspected, and it is possible to take measures such as repair before the vehicle V becomes unable to travel.

<Second embodiment>
In the first embodiment, an example in which behavior characteristics are monitored during manual operation has been described. However, behavior characteristics may be monitored during automatic operation or during automatic operation. FIG. 7B is a flowchart showing an example thereof, and is executed by, for example, the ECU 20 or a dedicated monitoring ECU.

  The processing of S11 to S18 is the same as the processing of S11 to S18 in FIG. However, the operation input amount is a control amount output by each ECU. In the present embodiment, when it is determined that the performance is reduced in S14, switching to manual operation is included in S19 as one mode of regulation of automatic driving.

  In S19, for example, the driver is requested to switch from automatic driving to manual driving (takeover). This switching request can be made, for example, by displaying the switching request on the information output device 43A. Subsequently, it is determined whether or not the driver has agreed to the switching request. For example, the driver can display an intention of consent using the input device 45. If the driver's consent is obtained, the manual operation mode is set. If there is no driver's consent, the vehicle V may be gradually decelerated and stopped at a safe place.

  As described above, in the present embodiment, the behavior characteristic change is monitored during the automatic driving, and if the behavior characteristic changes greatly, it is considered that the performance of the vehicle V has deteriorated, and the automatic driving is switched to the manual driving. As a result, it is possible to take measures such as repairing before the vehicle V becomes unable to travel while allowing the vehicle V to continue to operate.

<Third embodiment>
In the first and second embodiments, the change in the behavior characteristic of the vehicle V is monitored by comparing the reference information with the driving input amount that is actually measured data and the corresponding detection result of the behavior of the vehicle V. Is not limited to this. In manual driving, automatic driving may be simulated, and a change in behavior characteristics of the vehicle V may be monitored by comparing a driving operation amount as actual measurement data with a virtual control amount as a simulation result. FIG. 8A and FIG. 8B are explanatory diagrams of a mechanism for monitoring changes in behavior characteristics in the present embodiment. In the case of this embodiment, reference information is not necessary.

  FIG. 8A shows a state immediately before the vehicle V travels on the right curve in manual operation. Here, the virtual control amount when the vehicle V is caused to travel on the right curve by automatic driving is simulated. Here, as an example, a virtual control amount (steering amount) of the steering wheel ST is assumed. The simulation is executed by the ECU 20, for example. The ECU 20 sets an action plan for the vehicle V using the same algorithm as in automatic driving. For example, the movement trajectory TJ of the vehicle V is calculated based on map information or images taken by the camera 31A and the camera 31B. Then, a virtual steering amount R1 (virtual control amount for the drive unit 41a) of the steering wheel ST for moving the vehicle V along the movement locus TJ is calculated.

  FIG. 8B schematically shows a mode in which the vehicle V is actually traveling in manual operation. The amount of operation (steering amount) of the steering wheel ST by the driver at this time is R. When the vehicle V travels substantially along the movement trajectory TJ, the difference between the virtual steering amount R1 and the steering amount R can be used as an indicator of the change in behavior characteristics of the vehicle V.

  That is, since the driver who is a human can respond relatively flexibly to changes in the behavior characteristics of the vehicle V, if the vehicle V is more difficult to bend than in the early days, the steering amount of the steering wheel ST is set. Increase naturally. If the traveling result of the vehicle V is substantially the same, but there is a large difference between the actual steering amount R and the virtual steering amount R1, it can be considered that the behavior characteristics of the vehicle V have changed greatly.

  Although FIG. 8A and FIG. 8B show examples of steering characteristics, changes in behavior characteristics of acceleration characteristics and deceleration characteristics can be monitored by a similar method. For example, in the case of acceleration characteristics, the actual operation amount (detection result of the operation amount detection sensor 34a) with respect to the accelerator pedal AP and the ECU 27 output on the assumption that an actual acceleration result substantially the same as the simulation result is obtained. The change in behavior characteristics can be determined by comparing with the virtual drive control amount to be performed. Further, if the deceleration characteristic is obtained, the actual operation amount for the brake pedal BP (the detection result of the operation amount detection sensor 34b) and the ECU 23 output on the assumption that the actual deceleration result substantially the same as the simulation result is obtained. The change in behavior characteristics can be determined by comparing with the virtual drive control amount to be performed.

  FIG. 9 is a flowchart showing an example of the monitoring process in the present embodiment. The processing of the figure can be executed by, for example, the ECU 20 in the manual operation mode, but a dedicated monitoring ECU may be provided and the ECU may perform the processing.

  In S31, a future action plan is simulated in accordance with an algorithm for automatic driving on a running road, and a virtual control amount related to driving of the vehicle V is calculated. As the simulation timing, for example, when monitoring a change in steering characteristics, the timing at which the vehicle V reaches the entrance of the corner can be cited. When monitoring changes in acceleration characteristics, it is possible to list the timing before stopping at an intersection and starting. When monitoring the change in the deceleration characteristic, the timing when the red signal is confirmed ahead can be given.

  In S32, the actual driving operation amount of the driver and the subsequent behavior of the vehicle V are detected. As for the sensor to be detected, as described in the first embodiment, a set of the operation amount detection sensor 34a and the acceleration sensor 33b or the wheel speed sensor 38 can be cited as long as the acceleration characteristic. If it is a braking characteristic, the group of the operation amount detection sensor 34b and the acceleration sensor 33b or the wheel speed sensor 38 can be mentioned. If it is a steering characteristic, the group of the steering angle sensor 41b and the gyro sensor 33a can be mentioned.

  In S33, it is determined whether or not the behavior of the vehicle V detected in S32 is substantially the same as the virtual behavior of the vehicle V in the simulation of S31. For example, if the difference between the actual behavior and the virtual behavior quantified in the same dimension is equal to or less than a preset threshold value, it is determined that they are substantially the same. If it is determined that the values are substantially the same, the process proceeds to S34. If it is determined that the values are not substantially the same, the process is not suitable for evaluating the change in behavior characteristics based on the comparison between the actual operation amount and the virtual control amount. finish.

  In S34, it is determined whether or not the difference between the actual driving operation amount of the driver detected in S32 and the virtual control amount in the simulation in S31 exceeds a threshold value. For example, if the difference between the actual driving operation amount and the virtual control amount that are quantified in the same dimension exceeds a preset threshold value, it is considered that a large performance deterioration has occurred in the vehicle V, and the process proceeds to S35, where the threshold value is exceeded. If not, it is considered that the performance of the vehicle V is maintained, and the process proceeds to S37.

  The process of S35-S38 is the same as the process of S15-S18 of 1st embodiment. In brief, in S35, the behavior characteristic of the vehicle V is changed, and the driver is informed that the performance is deteriorated. The notification can include a voice or display that prompts the driver to check the vehicle V at the maintenance site. In S36, a regulation concerning automatic driving is set. Similar to the first embodiment, the restriction on automatic driving may be based on the condition that the vehicle V has been inspected at the maintenance base (FIG. 7A).

  In S37, it is determined whether or not the control amount needs to be corrected during automatic operation. The necessity of correction is determined to be necessary when the difference between the actual driving operation amount and the virtual control amount that are quantified in the same dimension exceeds a preset threshold value, and when the threshold value is not exceeded, correction is not necessary. judge. In S38, it can set suitably so that the difference of the actual driving | operation amount in S37 and virtual control amount may become small.

  As described above, in the present embodiment, a change in behavior characteristics of the vehicle V can be automatically recognized. Further, if the change in behavior characteristics is large, it is considered that the performance degradation of the vehicle V has occurred, and the automatic driving is restricted, so that it is possible to prevent the realization of the action plan in the automatic driving. Further, by informing the driver, it is possible to prompt the vehicle V to be inspected, and it is possible to take measures such as repair before the vehicle V becomes unable to travel.

<Summary of Embodiment>
1. The vehicle (e.g., V) in the above embodiment is
A vehicle that can switch between automatic driving and manual driving,
Detection means for detecting the behavior of the vehicle (for example, 33a, 33b, 38);
The vehicle behavior based on the driving input amount related to the driving of the vehicle, the detection result of the vehicle behavior corresponding to the driving input amount, and the reference information indicating the criteria of the behavior characteristic of the vehicle. Monitoring means (for example 20, FIG. 5, FIG. 7) for monitoring a change in characteristics.

  According to this embodiment, it is possible to provide a technology capable of automatically recognizing changes in vehicle behavior characteristics.

2. In the above embodiment,
The monitoring means monitors changes in behavior characteristics of the vehicle in the manual driving (for example, 20, FIG. 5),
The driving input amount is a driving operation amount of the driver in the manual driving.

  According to this embodiment, it is possible to take measures such as restricting switching to automatic driving by automatically recognizing changes in vehicle behavior characteristics during manual driving.

3. In the above embodiment,
When the difference between the detection result and a reference value with respect to the driving input amount indicated by the reference information exceeds a threshold value, the monitoring unit determines that performance degradation has occurred in the vehicle (for example, S14, FIG. 6 (A) (B)).

  According to this embodiment, when the change in the behavior characteristic of the vehicle is large, it is considered that the performance has deteriorated, and it is possible to urge the driver to deal with it.

4). In the above embodiment,
The monitoring means regulates the driving control in the automatic driving when a difference between the detection result and a reference value for the driving input amount indicated by the reference information exceeds a threshold (for example, S16, S20) ).

  According to this embodiment, it is possible to prevent the realization of an action plan in automatic driving.

5. In the above embodiment,
When the difference between the detection result and a reference value with respect to the driving input amount indicated by the reference information exceeds a threshold, the monitoring unit notifies the driver to check the vehicle at the maintenance base. Perform (for example, S15).

  According to this embodiment, it is possible to prompt the driver to check the vehicle at the maintenance base.

6). In the above embodiment,
The automatic operation is permitted on the condition that the vehicle has been inspected at the maintenance base (for example, FIG. 7A).

  According to this embodiment, it is possible to prompt the driver to check the vehicle at the maintenance base.

7). The vehicle (e.g., V) in the above embodiment is
A vehicle that can switch between automatic driving and manual driving,
Detection means for detecting the amount of driving operation of the driver (for example, 34a, 34b, 41b);
Simulating a virtual control amount related to automatic driving of the vehicle in the manual driving (for example, S31), and comparing the virtual control amount and the driving operation amount detected by the detection means, the behavior characteristics of the vehicle Monitoring means for monitoring changes (for example, 20, S34).

  According to this embodiment, it is possible to provide a technology capable of automatically recognizing changes in vehicle behavior characteristics.

8). In the above embodiment,
The monitoring unit determines that the performance has deteriorated in the vehicle when the difference between the virtual control amount and the driving operation amount detected by the detection unit exceeds a threshold value (for example, S34).

  According to this embodiment, when the change in the behavioral characteristics of the vehicle is large, it is considered that the performance has deteriorated, and it is possible to urge the driver to deal with it.

9. In the above embodiment,
The monitoring means regulates driving control in the automatic driving when a difference between the virtual control amount and the driving operation amount detected by the detecting means exceeds a threshold (for example, S36).

  According to this embodiment, it is possible to prevent the realization of an action plan in automatic driving.

10. In the above embodiment,
When the difference between the virtual control amount and the driving operation amount detected by the detection unit exceeds a threshold value, the monitoring unit performs a notification that prompts the driver to check the vehicle at a maintenance base (for example, S35).

  According to this embodiment, it is possible to prompt the driver to check the vehicle at the maintenance base.

11. In the above embodiment,
The automatic operation is permitted on the condition that the vehicle has been inspected at the maintenance base (for example, FIG. 7A).

  According to this embodiment, it is possible to prompt the driver to check the vehicle at the maintenance base.

12 The control method of the above embodiment is
A method for controlling a vehicle (e.g., V) capable of switching between automatic driving and manual driving,
A detection step (e.g., S11) for detecting the behavior of the vehicle;
Based on the driving input amount related to driving of the vehicle, the detection result of the detection step of the behavior of the vehicle corresponding to the driving input amount, and the reference information indicating the reference of the behavior characteristic of the vehicle, the behavior of the vehicle And a monitoring step (S13, S14) for monitoring the change in characteristics.

  According to this embodiment, it is possible to provide a technology capable of automatically recognizing changes in vehicle behavior characteristics.

13. The control method of the above embodiment is
A method for controlling a vehicle (e.g., V) capable of switching between automatic driving and manual driving,
A detection step (e.g., S32) for detecting the amount of driving operation of the driver;
Simulating a virtual control amount related to automatic driving of the vehicle in the manual driving (for example, S31), and comparing the virtual control amount and the driving operation amount detected in the detection step, And a monitoring step (for example, S34) for monitoring the change.

  According to this embodiment, it is possible to provide a technology capable of automatically recognizing changes in vehicle behavior characteristics.

  V vehicle, 1 vehicle control device

Claims (13)

A vehicle that can switch between automatic driving and manual driving,
Detection means for detecting the behavior of the vehicle;
The vehicle behavior based on the driving input amount related to the driving of the vehicle, the detection result of the vehicle behavior corresponding to the driving input amount, and the reference information indicating the criteria of the behavior characteristic of the vehicle. Monitoring means for monitoring changes in characteristics,
A vehicle characterized by that. The vehicle according to claim 1,
The monitoring means monitors a change in behavior characteristics of the vehicle in the manual operation,
The driving input amount is a driving operation amount of a driver in the manual driving.
A vehicle characterized by that. The vehicle according to claim 1,
The monitoring means determines that the performance of the vehicle has deteriorated when a difference between the detection result and a reference value with respect to the driving input amount indicated by the reference information exceeds a threshold value.
A vehicle characterized by that. The vehicle according to claim 1,
The monitoring means regulates driving control in the automatic driving when a difference between the detection result and a reference value for the driving input amount indicated by the reference information exceeds a threshold value.
A vehicle characterized by that. The vehicle according to claim 1,
When the difference between the detection result and a reference value with respect to the driving input amount indicated by the reference information exceeds a threshold, the monitoring unit notifies the driver to check the vehicle at the maintenance base. Do,
A vehicle characterized by that. The vehicle according to claim 4,
The regulation is released on condition that the vehicle has been inspected at the vehicle maintenance base,
A vehicle characterized by that. A vehicle that can switch between automatic driving and manual driving,
Detection means for detecting the amount of driving operation of the driver;
In the manual driving, a virtual control amount related to the automatic driving of the vehicle is simulated, and the change of the behavior characteristic of the vehicle is monitored by comparing the virtual control amount with the driving operation amount detected by the detecting means. Monitoring means,
A vehicle characterized by that. The vehicle according to claim 7,
The monitoring unit determines that the vehicle has a performance degradation when a difference between the virtual control amount and the driving operation amount detected by the detecting unit exceeds a threshold value.
A vehicle characterized by that. The vehicle according to claim 7,
The monitoring means regulates driving control in the automatic driving when a difference between the virtual control amount and the driving operation amount detected by the detecting means exceeds a threshold value.
A vehicle characterized by that. The vehicle according to claim 7,
The monitoring means, when a difference between the virtual control amount and the driving operation amount detected by the detection means exceeds a threshold value, notifies the driver to inspect the vehicle at a maintenance base;
A vehicle characterized by that. The vehicle according to claim 9, wherein
The regulation is released on condition that the vehicle has been inspected at the vehicle maintenance base,
A vehicle characterized by that. A vehicle control method capable of switching between automatic driving and manual driving,
A detection process for detecting the behavior of the vehicle;
Based on the driving input amount related to driving of the vehicle, the detection result of the detection step of the behavior of the vehicle corresponding to the driving input amount, and the reference information indicating the reference of the behavior characteristic of the vehicle, the behavior of the vehicle A monitoring process for monitoring changes in characteristics,
A control method characterized by that. A vehicle control method capable of switching between automatic driving and manual driving,
A detection process for detecting the amount of driving operation of the driver;
In the manual driving, a virtual control amount related to the automatic driving of the vehicle is simulated, and the change in behavior characteristics of the vehicle is monitored by comparing the virtual control amount with the driving operation amount detected in the detection step. A monitoring process,
A control method characterized by that.

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